Add `claim_assets` extrinsic to `pallet-xcm` (#3403)

If an XCM execution fails or ends with leftover assets, these will be
trapped.
In order to claim them, a custom XCM has to be executed, with the
`ClaimAsset` instruction.
However, arbitrary XCM execution is not allowed everywhere yet and XCM
itself is still not easy enough to use for users out there with trapped
assets.
This new extrinsic in `pallet-xcm` will allow these users to easily
claim their assets, without concerning themselves with writing arbitrary
XCMs.

Part of fixing https://github.com/paritytech/polkadot-sdk/issues/3495



---------

Co-authored-by: command-bot <>
Co-authored-by: Adrian Catangiu <[email protected]>